#include "stewenius_test_data.hpp"

// Octave-generated test data
// and reference results

// 3D point cloud (20 x 20 x 5; centre at 0,0,10)
const unsigned int DATA_POINT_COUNT = 1000;
const double DATA_POINTS[][3] = {
   { -7.474286698037619e+00, -2.978777072691885e-01,  1.106109559767975e+01 },
   { -2.401856285579388e+00, -5.924166006278496e+00,  9.208171917520731e+00 },
   { -3.906976565991397e+00,  7.415310788943996e-01,  1.032169625071700e+01 },
   {  9.722325775366647e-01, -6.572635188301707e+00,  9.626100781075404e+00 },
   {  4.804629776929675e+00, -7.373122479667539e+00,  1.127479549646622e+01 },
   {  9.105762500806957e+00, -5.599535240406967e+00,  1.024973800494618e+01 },
   { -2.250047244945134e+00,  4.974610082628546e+00,  1.111011969340358e+01 },
   {  5.270728933691169e+00,  7.870256153691857e-02,  1.052580541476435e+01 },
   { -4.017809440669484e-01, -1.184127766619414e-01,  1.124368658473825e+01 },
   {  5.344482306352476e+00, -8.412015732852231e+00,  7.535808859869531e+00 },
   { -8.277845543769213e-01,  8.381093147910313e+00,  7.895990782297740e+00 },
   { -9.700882377471991e+00, -4.944339718625600e+00,  9.417395884708641e+00 },
   { -1.714406611835201e+00, -7.714223315758596e+00,  1.201613956067685e+01 },
   { -6.292648970067530e+00,  7.169490746186426e+00,  1.115348004900623e+01 },
   { -3.761956163136407e+00, -5.324577146607169e+00,  8.163008721225914e+00 },
   {  4.677824510578574e+00, -4.902611029541642e+00,  8.001558381924042e+00 },
   {  7.221142369164952e+00,  5.943937202955683e+00,  1.024028989661570e+01 },
   {  2.164495879620443e+00,  3.790826537769734e+00,  8.020590256542418e+00 },
   { -4.718498925692382e+00, -8.845179133332365e+00,  7.598734179125147e+00 },
   { -9.266754000751909e-01,  5.811697707649333e+00,  1.232215093146469e+01 },
   {  5.794608829560350e+00, -1.376846773497812e+00,  8.688384334916506e+00 },
   {  9.480683898673421e+00, -5.546602824030379e+00,  9.729477966520104e+00 },
   {  2.933249593862914e+00,  9.738227936638378e+00,  9.611788270284297e+00 },
   { -4.458645188035598e+00,  4.433827984756040e+00,  1.144198076054872e+01 },
   {  8.391441891433860e+00,  2.940073002377921e+00,  1.079061812822852e+01 },
   { -7.013285510935209e+00, -8.136253519022375e+00,  7.940126184213948e+00 },
   { -1.163154374565142e+00,  9.262203958323658e+00,  7.611006548115615e+00 },
   { -3.726798024000749e+00,  4.125758958042089e+00,  8.618629663774337e+00 },
   {  5.119667790226496e+00,  9.523541222531753e+00,  8.939076611721461e+00 },
   { -9.004037241212537e-01,  1.968112456421121e+00,  7.526243865958989e+00 },
   {  8.435471167937202e+00, -2.869510126105762e+00,  7.528319382137385e+00 },
   {  8.031087127117107e+00,  8.896957293085777e+00,  1.237730529881241e+01 },
   {  7.007082813436694e+00,  4.244635326754529e+00,  8.541562055734662e+00 },
   { -3.775652923343553e-01, -3.655956964097546e+00,  8.867092704306405e+00 },
   {  4.052915918800699e+00,  3.434336989320119e+00,  9.797161642095524e+00 },
   { -3.196420813910593e+00, -1.957603289226940e+00,  8.002313323012464e+00 },
   {  9.014117338106811e+00, -2.633243159267126e+00,  1.123275338816577e+01 },
   { -5.610334350812059e+00, -7.815722054828437e+00,  1.131613197346786e+01 },
   {  2.872377977379976e+00, -3.233280407065803e+00,  8.840397411926649e+00 },
   {  5.726089381735413e+00, -2.919412498857766e+00,  8.542759413195698e+00 },
   { -2.057860767757854e+00,  2.168510944058155e+00,  1.183596397907702e+01 },
   {  9.511660577781759e+00, -7.950906696067231e+00,  8.298769047397252e+00 },
   {  9.551937149363102e+00, -9.351137395537062e+00,  1.145933745894220e+01 },
   { -7.613493369216688e+00, -3.116654206804367e+00,  8.944115518082960e+00 },
   {  8.405485625501424e+00,  5.389348072838915e+00,  1.138312947929714e+01 },
   {  4.927269644573484e-01,  7.884340413909518e+00,  1.043875922662487e+01 },
   {  4.368647102752821e-01,  6.052793110618495e+00,  1.150493676158498e+01 },
   { -3.094983971666779e+00,  6.735166740469780e+00,  9.886155608022994e+00 },
   { -7.104674094071219e+00, -7.084362046398317e+00,  1.001373751648484e+01 },
   { -4.543753330670187e+00,  1.447787362870241e+00,  9.902521703057632e+00 },
   {  8.358516348252071e+00,  6.172827561364834e+00,  1.139757248931876e+01 },
   { -4.796278631406064e+00, -5.038421038460720e+00,  9.129426830374253e+00 },
   { -1.881699709573376e+00,  5.965807686114156e+00,  1.139432234369434e+01 },
   {  8.366077747340409e+00, -9.110788561355633e+00,  1.023057643644670e+01 },
   { -1.825860402980489e+00,  8.500953153134137e+00,  9.981177768292792e+00 },
   {  3.012314620189118e+00,  7.911242447171398e+00,  9.968381917978666e+00 },
   {  2.835175633817451e+00, -4.039919150490547e+00,  1.123022666144747e+01 },
   { -8.239038760893816e+00,  1.838864928336861e+00,  1.124775785446809e+01 },
   { -6.634379188879463e+00, -1.899388280525308e+00,  1.204923774184275e+01 },
   { -7.009467440299899e-01,  7.065566529312446e+00,  1.138698519491100e+01 },
   { -5.099716306567626e+00, -4.183430307487309e+00,  1.073168305109766e+01 },
   {  1.048549391307099e+00, -6.033667054215180e+00,  1.142861724335041e+01 },
   {  4.860840082363350e+00,  4.500522170598778e+00,  8.764777280516629e+00 },
   { -8.578306671641752e+00,  4.263172319585804e+00,  7.693977320776967e+00 },
   {  2.268747119805272e+00, -3.573785762329828e+00,  1.191866787752116e+01 },
   {  5.140208474267118e+00, -1.210484290200177e+00,  1.244808474815783e+01 },
   { -5.676112143020998e+00, -6.225080009261049e+00,  8.495367648164056e+00 },
   { -4.822128374405867e+00, -5.486466971038065e+00,  9.553247951598665e+00 },
   { -8.357598964004398e+00, -4.630490508727964e+00,  1.168161946966552e+01 },
   { -6.416307753619649e+00,  1.580797823131515e+00,  1.205014534625656e+01 },
   {  1.579902202755119e+00,  3.104235171800036e+00,  9.768343388281377e+00 },
   {  8.522595815420029e+00,  4.831560012492853e-02,  1.004101273872660e+01 },
   {  2.093704861605177e+00, -7.943389602498981e+00,  1.053029493096704e+01 },
   { -3.429101372591148e-01, -7.470405840444194e-01,  8.864604765417145e+00 },
   {  4.294510976414783e+00,  6.745507705321740e+00,  8.414885419426435e+00 },
   {  4.911263995117467e+00, -5.966945030863377e+00,  1.052788041415851e+01 },
   { -9.256312521285585e+00, -4.757681074698571e+00,  8.224905084791423e+00 },
   {  7.402433137110092e+00, -9.549154511714018e+00,  7.760640883201916e+00 },
   { -7.115559655528715e+00,  4.448641017060552e+00,  8.543202620294666e+00 },
   {  5.131183644452504e+00, -8.052198932725371e+00,  1.047431713711710e+01 },
   {  4.657820516015754e+00,  2.861480768038600e+00,  8.844051312003501e+00 },
   { -5.762246666210146e+00,  8.272723103242862e+00,  1.062240828949058e+01 },
   {  1.514427092017911e+00, -1.473667123484782e+00,  8.577796966639418e+00 },
   { -2.272251695058337e+00, -9.216910061602503e+00,  7.831647870149876e+00 },
   { -1.769502670911903e+00, -4.418618141499281e+00,  7.677244096426359e+00 },
   { -8.367237699922448e+00,  7.854013079748128e+00,  1.199946063874860e+01 },
   {  4.833243189116246e+00,  2.047439529785764e+00,  1.192161691589298e+01 },
   {  9.468212683716337e-01, -4.072316093708936e+00,  7.626300861139303e+00 },
   {  4.583830654345982e+00,  2.992750901304777e+00,  1.086682712306193e+01 },
   {  2.098918161531578e+00, -2.111610740917639e+00,  9.537261067561060e+00 },
   {  3.691556344630920e-01, -8.311725340479204e-01,  8.457806138441113e+00 },
   {  1.656549994041456e-01,  1.956131321345231e+00,  1.165455376316471e+01 },
   {  1.754730204857946e-01, -4.212647723435649e+00,  1.136775979471929e+01 },
   {  7.480634534642707e+00,  8.700135106103534e+00,  8.085045572374014e+00 },
   {  7.733394581743694e+00, -3.290388160802348e+00,  9.135300863037008e+00 },
   { -2.386683210857671e+00, -9.444839341480707e+00,  9.535018724057460e+00 },
   { -1.663755900041176e+00, -5.196675322825620e+00,  1.180519085567603e+01 },
   { -7.221103615375613e-01,  8.101636998487541e+00,  1.009651829284587e+01 },
   {  7.524108967494136e+00, -8.704684682244789e+00,  8.266399434552016e+00 },
   {  5.340477790919815e+00, -3.074809752322633e+00,  1.152166714307532e+01 },
   {  6.005746503624945e+00,  6.348049817264309e+00,  8.586294703066155e+00 },
   {  3.257661668081120e+00,  2.471856448748635e+00,  9.378078223089483e+00 },
   { -7.623114006358768e+00, -4.439687611353732e+00,  1.004666914575160e+01 },
   { -5.971554592521909e+00,  4.593144549819870e+00,  1.040096574402163e+01 },
   {  3.341170652220971e+00, -1.347414508496018e+00,  9.958884449893574e+00 },
   {  9.679366421161919e+00,  2.532439436886109e+00,  9.854905415372883e+00 },
   { -9.127808508708956e+00, -8.265080232008074e+00,  1.178844231097098e+01 },
   {  7.019305699084228e+00,  1.377048646480041e+00,  9.421588730952447e+00 },
   { -2.728946127422371e-01,  9.321141760447746e+00,  1.017969221368931e+01 },
   {  7.690918552325785e+00, -5.231937665589995e+00,  1.062542141915210e+01 },
   {  1.717993661946819e+00, -4.740011158070695e+00,  9.767837443770262e+00 },
   { -3.143982564814173e+00, -2.154396982062422e+00,  1.099596607508656e+01 },
   { -1.834762904100057e+00,  9.483081558094565e+00,  8.403599272872048e+00 },
   { -5.952232637111198e+00,  8.544996311312715e+00,  1.191279142127459e+01 },
   {  2.686969253581704e+00,  6.052310909875846e+00,  9.316452669208733e+00 },
   {  2.979666048799539e+00,  3.798190057126214e+00,  1.246356015174060e+01 },
   {  5.954616006095481e-02, -2.953162554557648e+00,  7.905482822577845e+00 },
   { -9.016750520897389e+00, -5.167649222575944e+00,  8.117032337130706e+00 },
   {  2.627090689335216e+00,  3.400675209733772e-01,  1.233296294816741e+01 },
   { -2.724151070619603e+00,  1.730869653695284e+00,  1.168855189554410e+01 },
   { -8.267018964076717e+00,  8.945499686988448e+00,  1.180523699840568e+01 },
   { -7.403409754586721e-01, -4.247706181154038e+00,  1.235579360637155e+01 },
   {  3.700646092678561e+00, -5.615830255994200e+00,  8.849967868416568e+00 },
   {  3.929973243856044e+00,  7.618593089379400e+00,  9.224275195644907e+00 },
   { -7.888360197757061e-01, -7.843472985994161e+00,  1.038854428671813e+01 },
   {  6.559934932786518e+00, -1.178029155068346e+00,  9.774833984107639e+00 },
   {  8.437123233659634e+00,  2.112895549224070e-01,  1.240180230937494e+01 },
   {  5.103417497797857e+00,  8.280953098199262e+00,  1.196508977921988e+01 },
   {  2.139874229510568e+00, -9.460974782943273e+00,  9.931581272229799e+00 },
   { -8.760641880360740e+00,  9.770398757289190e+00,  1.236247855874043e+01 },
   {  6.689927580428447e+00, -1.917308290821359e+00,  8.155446075806660e+00 },
   { -4.474155012976638e+00, -1.717430262742629e+00,  7.715368283248275e+00 },
   {  3.826587219569493e+00, -7.120518381875983e+00,  7.855049930160071e+00 },
   { -7.379566531069729e+00,  8.610774923956670e+00,  9.034560425289577e+00 },
   {  5.427098460815374e+00, -9.065762374699792e+00,  9.667262966279413e+00 },
   {  9.966051179588485e+00,  3.772480579526416e+00,  1.169928802160885e+01 },
   { -5.130158361352716e+00,  9.568082654949624e+00,  8.749611750483449e+00 },
   { -4.364988280835790e+00, -3.318091353048550e+00,  1.079857996481243e+01 },
   { -6.723902313795916e+00, -7.403074368400447e+00,  8.398715388881369e+00 },
   { -2.080537024579426e+00, -5.997454787306716e+00,  8.857366998449384e+00 },
   {  6.306262348530942e+00, -6.467480801997651e+00,  9.339850199217759e+00 },
   {  1.342599061614735e+00,  1.855620087211978e+00,  1.209910360044074e+01 },
   {  2.106014954282867e+00,  8.608168057027459e+00,  9.872303745590996e+00 },
   {  9.027334612085307e+00,  1.373846040890117e+00,  8.025221126837337e+00 },
   {  5.400059805503423e+00, -7.724442121924354e+00,  1.215996259420984e+01 },
   { -3.754275871222194e+00, -6.678820577012830e+00,  8.019894187183365e+00 },
   {  8.570896834879193e+00, -1.494256494981702e+00,  7.912076913048773e+00 },
   {  4.107354722900343e+00, -3.568486624312769e+00,  8.861280344997567e+00 },
   {  7.612657733323214e+00, -7.603032482292146e+00,  7.802437467898319e+00 },
   {  9.119862637523930e+00, -7.168569245397530e+00,  8.623416605133201e+00 },
   { -9.713149705986886e+00, -9.996749125275924e+00,  1.210846781052772e+01 },
   { -4.997668299814348e+00, -7.485814015466622e+00,  9.543383423662833e+00 },
   { -9.771513402263007e+00,  6.973116340119963e+00,  8.009524391387538e+00 },
   { -4.610329027419203e+00, -7.200827898425678e+00,  1.124223750720838e+01 },
   { -7.284391240289275e+00, -3.545795535612312e+00,  9.990985827783973e+00 },
   { -9.867000369040532e+00,  5.472655258355785e-01,  9.807715947992584e+00 },
   { -2.945008502066323e+00, -2.134490366282983e+00,  1.033021050560683e+01 },
   { -9.121875698091340e+00, -6.506562581987091e+00,  8.851679809270941e+00 },
   {  9.198122354074215e+00, -2.583785192469342e+00,  1.241235546354177e+01 },
   {  1.895243692581796e+00, -5.057462028222267e+00,  1.210648851631300e+01 },
   {  3.677844663497853e+00,  4.983550861214388e+00,  9.978410871009771e+00 },
   {  5.697055129411950e+00, -7.341567377286629e-01,  9.616508876118827e+00 },
   {  9.304834110282892e+00,  4.823476670655735e+00,  9.546538789123760e+00 },
   { -6.447952114662733e+00,  7.183846397233267e+00,  1.034178284588521e+01 },
   { -3.090185901122059e+00, -3.609071107314243e-01,  1.080168339397061e+01 },
   { -1.766746570926446e+00, -1.976328180635497e+00,  8.042603628780487e+00 },
   { -7.402722218133039e+00, -8.175823324401327e+00,  1.005395379370354e+01 },
   { -9.573562153806090e+00, -3.337753695750322e+00,  1.162383582063834e+01 },
   { -9.592602403522099e+00,  2.792310270094331e+00,  8.459037216797114e+00 },
   {  8.662222463825422e+00, -4.207404688744671e+00,  1.128636434578254e+01 },
   {  8.703341053243939e+00,  3.404161002936650e+00,  1.000270934626056e+01 },
   {  1.789912757967069e+00,  7.688815596495271e+00,  8.356316457697584e+00 },
   { -8.252366235296396e+00, -3.266926531838425e+00,  9.139318401541642e+00 },
   {  1.815910434433994e+00,  9.505718813389235e+00,  8.691927196149136e+00 },
   { -1.478350505864584e+00,  8.063893550319658e+00,  7.993263380213415e+00 },
   { -8.941389926855379e+00,  5.431800304114754e+00,  8.292860268182709e+00 },
   { -4.093910080802731e+00, -8.708192305413483e+00,  7.545584013153050e+00 },
   { -6.649075060720372e+00,  3.434748061396298e+00,  1.071879359006480e+01 },
   {  4.356278093742434e+00, -8.138010047202917e+00,  1.197007238293768e+01 },
   {  2.943411176127197e-01, -3.359041996847084e+00,  8.656064883352229e+00 },
   { -1.821451970792122e+00, -7.278162334248685e+00,  1.011087049229561e+01 },
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   { -6.822307923194434e+00, -9.389333384978457e+00,  9.473535559346354e+00 },
   { -8.775596150657853e+00,  5.375907637627318e+00,  8.059450984744064e+00 },
   {  7.040273987971468e+00, -2.029539544977333e+00,  7.563258208169325e+00 },
   { -5.110376326372911e+00,  6.507204884631888e+00,  1.092873354719815e+01 },
   {  1.902127823051174e+00, -7.939293356666910e-01,  7.785186025904217e+00 },
   { -2.388462687607874e+00, -3.560521010261782e+00,  8.690185254363701e+00 },
   { -7.724148155904642e-01,  8.963285411817616e+00,  1.195422692258146e+01 },
   {  7.295571756221245e+00, -7.411177542584243e+00,  9.519504525901873e+00 },
   {  5.345322453510757e+00, -1.463988211758905e+00,  8.961863309347393e+00 },
   {  2.849957272926267e+00,  1.574309228232496e+00,  8.481253201535168e+00 },
   { -6.096580254240434e+00, -5.159979709780188e+00,  8.319415452088860e+00 },
   { -2.003701329834634e+00,  6.726624729875086e-01,  8.858293688083442e+00 },
   { -6.826167969144429e+00,  5.543870088416780e+00,  9.835729753815246e+00 },
   {  3.069816803720495e+00,  7.839647697184784e+00,  7.979046483344106e+00 },
   { -1.881859903858396e-01, -9.634015976769483e+00,  1.015905461889327e+01 },
   { -6.469293381914819e+00, -1.872280641117995e+00,  1.098302935686586e+01 },
   {  7.964312366198667e+00,  2.063647422877124e-01,  9.445879263734115e+00 },
   {  7.866763821498468e+00, -2.897007983369427e+00,  1.089363976457124e+01 },
   { -6.220104266899863e+00,  5.921040884013307e-01,  7.923805440766680e+00 },
   {  2.589807075101429e+00,  2.820262517695691e+00,  1.014411607020171e+01 },
   {  3.293214933268551e-01, -4.662566982106938e+00,  8.403448620514496e+00 },
   {  3.647671565428146e+00, -3.128798791664670e+00,  9.460306689771036e+00 },
   {  8.632478450750952e+00, -3.650720052768007e+00,  1.195384195102536e+01 },
   { -7.343463366908817e+00, -4.912735383409540e+00,  1.191668972671300e+01 },
   { -4.329187296106705e+00,  2.850622699254408e+00,  8.155859574162770e+00 },
   { -6.405594057177114e+00, -3.540305070334994e+00,  8.875481676416731e+00 },
   { -5.642594334036669e+00, -7.703834822967996e+00,  1.015870090463082e+01 },
   { -5.887496548734759e+00, -9.875490637840050e+00,  9.776357837286334e+00 },
   { -6.760742925950777e+00,  5.052402624102346e+00,  8.097036336371186e+00 },
   {  1.568686401491004e+00,  9.109410903981237e+00,  8.434054950373465e+00 },
   {  2.636260464514355e+00, -9.724287164263556e+00,  7.873355145447560e+00 },
   { -8.635867919441964e+00, -2.220594671588494e-01,  7.879884503575052e+00 },
   { -2.666798123333213e+00, -8.225293067767089e+00,  1.236471626935656e+01 },
   { -5.609795013483759e+00, -6.285455159818399e+00,  1.006925114441766e+01 },
   {  7.279023860788508e+00, -1.824423864762864e+00,  8.155771799713726e+00 },
   {  5.158735500299927e-01,  1.229093374664370e-01,  9.237671773950636e+00 },
   {  7.559760264213455e-02, -4.991730599319305e+00,  9.201854987175041e+00 },
   { -6.839423643112034e+00, -8.090569568229059e+00,  1.126775440891678e+01 },
   { -2.620084356888705e+00, -8.755498111024293e+00,  8.476694423467363e+00 },
   { -5.016677864076772e+00,  9.357295179182568e+00,  9.246969701737292e+00 },
   { -4.855124125891919e-01,  8.846083201705909e+00,  9.382734785549818e+00 },
   { -9.691474551022312e+00,  3.231629170481098e-01,  1.086143604538025e+01 },
   {  4.711395659117983e+00,  7.207338076149028e+00,  8.785571566440819e+00 },
   { -6.265624710419415e-01, -8.132155655785611e-01,  8.772217686784467e+00 },
   { -2.983165012771329e+00,  7.667726989737764e+00,  8.866392984174492e+00 },
   { -7.293321301543424e+00, -3.401597417100249e+00,  8.811780287996324e+00 },
   { -5.468986730870516e+00,  3.774504437143069e+00,  1.098651370024186e+01 },
   {  6.889829882059288e+00, -8.636869437796927e+00,  1.167311478017416e+01 },
   {  1.501105701411229e+00,  1.834513999141416e+00,  9.817035819846353e+00 },
   { -6.339593470960549e+00,  9.839251029831701e+00,  1.225446895077278e+01 },
   { -3.413286501927305e+00, -2.229582832459921e+00,  1.007784275226990e+01 },
   {  6.375232156870753e+00, -4.664778917098610e+00,  7.694829328780338e+00 },
   {  6.347137614515375e-01,  6.184560761582567e+00,  1.056535019203594e+01 },
   {  8.566244999013740e+00,  2.228538865346557e+00,  1.223859896863178e+01 },
   { -6.899033329222118e+00,  7.622059881380594e+00,  1.103844201758946e+01 },
   { -4.868325199607123e+00,  9.181862802004623e+00,  8.714929634686708e+00 },
   { -5.664275483015372e+00, -7.539591348429230e+00,  1.070274243214371e+01 },
   { -3.049370378667723e+00,  3.084524309653340e+00,  1.029689646921484e+01 },
   {  7.844715781564173e+00,  6.120226644293010e+00,  1.007868167971591e+01 },
   { -4.406277565708386e+00, -3.600135832201773e+00,  9.008921782639453e+00 },
   { -9.592407005358549e+00,  6.477422339167416e+00,  9.883887788778946e+00 },
   { -7.915813529680150e+00,  6.983096245457475e+00,  1.023560671629516e+01 },
   { -3.040365687354897e+00, -6.054988563208036e+00,  9.320582111247058e+00 },
   {  7.402506554594172e+00, -5.463335979259542e+00,  1.021226921767304e+01 },
   { -8.610467060131642e+00, -1.894837273641946e+00,  1.110469101652304e+01 },
   {  6.178863757446919e+00,  5.905285847825925e+00,  9.379410623870742e+00 },
   { -8.518855546271512e+00,  8.846048400392588e+00,  1.235046299895316e+01 },
   {  9.075063449209257e+00, -3.399408551433588e+00,  1.074742208673658e+01 },
   { -5.432155020566454e-01,  6.830424508171424e+00,  9.920556119003903e+00 },
   { -3.539477282689866e+00, -6.705132548669633e+00,  8.109534583009538e+00 },
   {  7.701888153913998e+00, -9.673058562819870e+00,  7.960930128511522e+00 },
   {  6.918367624204529e+00,  6.955918759776125e-01,  1.049272976705160e+01 },
   { -6.329907998220960e+00, -9.553508609511241e-01,  9.945576778309196e+00 },
   { -8.872372183567865e+00,  5.427488556115716e+00,  9.960204875344896e+00 },
   { -1.050011611571701e+00,  4.672047249319277e+00,  9.157467796405372e+00 },
   { -5.634411152505540e+00,  1.145516553382695e+00,  7.991944476208915e+00 },
   { -7.956008230054167e+00,  4.223967691187469e-01,  1.188399914179392e+01 },
   {  8.845192641268980e+00, -5.849940249288003e+00,  1.107093499948657e+01 },
   {  3.375653173648010e+00, -6.842143703728486e+00,  7.711804636177552e+00 },
   { -4.341609842483518e-01,  7.374115278557896e+00,  8.909097273430259e+00 },
   { -7.391062504504417e+00,  8.519863870673504e+00,  9.888552704600263e+00 },
   { -3.028393284428735e+00,  2.720977157282196e+00,  9.830244818634625e+00 },
   { -6.882714087681166e+00, -9.385741427372675e+00,  9.307252854588134e+00 },
   {  9.161076366068177e-01, -5.204065540780273e+00,  1.014924230024810e+01 },
   { -6.442570281998950e+00,  7.803098912936890e+00,  1.150965351677180e+01 },
   {  9.319210633260178e-01, -5.309817424771489e+00,  9.970204943336272e+00 },
};

// world -> camera matrix for camera 1 (note: column major order)
const double DATA_P1[16] = {
    8.660254037844387e-01,  0.000000000000000e+00,  4.999999999999999e-01,  0.000000000000000e+00,
    0.000000000000000e+00,  1.000000000000000e+00,  0.000000000000000e+00,  0.000000000000000e+00,
   -4.999999999999999e-01,  0.000000000000000e+00,  8.660254037844387e-01,  0.000000000000000e+00,
    4.330127018922194e+00,  0.000000000000000e+00,  2.500000000000000e+00,  1.000000000000000e+00,
};

// world -> camera matrix for camera 2 (note: column major order)
const double DATA_P2[16] = {
    8.660254037844387e-01,  0.000000000000000e+00, -4.999999999999999e-01,  0.000000000000000e+00,
    0.000000000000000e+00,  1.000000000000000e+00,  0.000000000000000e+00,  0.000000000000000e+00,
    4.999999999999999e-01,  0.000000000000000e+00,  8.660254037844387e-01,  0.000000000000000e+00,
   -4.330127018922194e+00, -0.000000000000000e+00,  2.500000000000000e+00,  1.000000000000000e+00,
};

// measurements for camera 1
const double DATA_X1[][3] = {
   { -9.198393940738909e-01, -3.570798960279653e-02,  1.000000000000000e+00 },
   { -2.538422943586575e-01, -6.388217179219260e-01,  1.000000000000000e+00 },
   { -4.442910743394331e-01,  7.817635321434849e-02,  1.000000000000000e+00 },
   {  3.171143352354106e-02, -5.804899956936017e-01,  1.000000000000000e+00 },
   {  1.945690024308905e-01, -5.027160653643650e-01,  1.000000000000000e+00 },
   {  4.451563209678372e-01, -3.515217181615069e-01,  1.000000000000000e+00 },
   { -2.885914259287924e-01,  4.523761897052602e-01,  1.000000000000000e+00 },
   {  2.548463074041992e-01,  5.522607225559584e-03,  1.000000000000000e+00 },
   { -1.362255324285586e-01, -9.837867114296467e-03,  1.000000000000000e+00 },
   {  4.437069110836350e-01, -7.190713915444000e-01,  1.000000000000000e+00 },
   { -3.751030484421797e-02,  9.391384135923568e-01,  1.000000000000000e+00 },
   { -1.512383104003671e+00, -8.516995382710446e-01,  1.000000000000000e+00 },
   { -2.624816792887650e-01, -6.402334517030407e-01,  1.000000000000000e+00 },
   { -7.429603395366059e-01,  7.954723296188640e-01,  1.000000000000000e+00 },
   { -3.914116026303575e-01, -6.925473074423113e-01,  1.000000000000000e+00 },
   {  3.722203921528854e-01, -4.165888239961556e-01,  1.000000000000000e+00 },
   {  3.647575352271801e-01,  3.968200817981115e-01,  1.000000000000000e+00 },
   {  2.084233809960590e-01,  3.600612359928688e-01,  1.000000000000000e+00 },
   { -5.289902324259954e-01, -1.315963458855545e+00,  1.000000000000000e+00 },
   { -2.072302156571963e-01,  4.573274235909371e-01,  1.000000000000000e+00 },
   {  3.872730742125865e-01, -1.065533482331329e-01,  1.000000000000000e+00 },
   {  4.899620708907974e-01, -3.540463793772820e-01,  1.000000000000000e+00 },
   {  1.679729639332958e-01,  7.923263665231892e-01,  1.000000000000000e+00 },
   { -5.159436211508719e-01,  4.355548578616600e-01,  1.000000000000000e+00 },
   {  3.866434298041527e-01,  1.832886615743637e-01,  1.000000000000000e+00 },
   { -9.734077515321616e-01, -1.386142752102509e+00,  1.000000000000000e+00 },
   { -5.672289021664971e-02,  1.088422846533772e+00,  1.000000000000000e+00 },
   { -3.958605651230890e-01,  5.093181718147316e-01,  1.000000000000000e+00 },
   {  3.354620728438584e-01,  7.439510233437756e-01,  1.000000000000000e+00 },
   { -2.483361958679287e-02,  2.297126021398707e-01,  1.000000000000000e+00 },
   {  5.946234969555168e-01, -2.167720987806731e-01,  1.000000000000000e+00 },
   {  2.957189923497104e-01,  5.162263719846770e-01,  1.000000000000000e+00 },
   {  4.572622573308366e-01,  3.167460752011815e-01,  1.000000000000000e+00 },
   { -4.308164258283177e-02, -3.659490240908292e-01,  1.000000000000000e+00 },
   {  2.260751137126868e-01,  2.639554301219581e-01,  1.000000000000000e+00 },
   { -3.114418342598737e-01, -2.499494680901276e-01,  1.000000000000000e+00 },
   {  3.896170062019508e-01, -1.573503175073113e-01,  1.000000000000000e+00 },
   { -6.515747583584366e-01, -8.231503021417078e-01,  1.000000000000000e+00 },
   {  2.068184711052050e-01, -2.789186729918984e-01,  1.000000000000000e+00 },
   {  3.931958012131455e-01, -2.287709304838688e-01,  1.000000000000000e+00 },
   { -2.875116524139565e-01,  1.850057715798869e-01,  1.000000000000000e+00 },
   {  5.828576660022421e-01, -5.505110090527450e-01,  1.000000000000000e+00 },
   {  3.995732654583636e-01, -5.436693271921991e-01,  1.000000000000000e+00 },
   { -1.046019715663287e+00, -4.840213191301956e-01,  1.000000000000000e+00 },
   {  3.573449627386593e-01,  3.254275684481449e-01,  1.000000000000000e+00 },
   { -3.924276342258615e-02,  6.689243991300255e-01,  1.000000000000000e+00 },
   { -8.232182907369921e-02,  4.772743398222711e-01,  1.000000000000000e+00 },
   { -3.461453345660494e-01,  7.079090240760860e-01,  1.000000000000000e+00 },
   { -8.962909021585455e-01, -9.297289959271323e-01,  1.000000000000000e+00 },
   { -5.175103388586182e-01,  1.644473144045714e-01,  1.000000000000000e+00 },
   {  3.546877989202038e-01,  3.729839994331594e-01,  1.000000000000000e+00 },
   { -5.479756441933760e-01, -6.291596097021872e-01,  1.000000000000000e+00 },
   { -2.622432975424601e-01,  5.220834878008137e-01,  1.000000000000000e+00 },
   {  4.156265726756506e-01, -5.861675016878234e-01,  1.000000000000000e+00 },
   { -2.191084206362413e-01,  8.308995981400155e-01,  1.000000000000000e+00 },
   {  1.546540482678588e-01,  6.259375042455877e-01,  1.000000000000000e+00 },
   {  8.578218995394933e-02, -2.961112146554362e-01,  1.000000000000000e+00 },
   { -1.037881027278196e+00,  2.264242603231668e-01,  1.000000000000000e+00 },
   { -7.735725952215151e-01, -1.974876680432307e-01,  1.000000000000000e+00 },
   { -1.640506431887609e-01,  5.882606641414294e-01,  1.000000000000000e+00 },
   { -5.898061135476471e-01, -4.525537405083232e-01,  1.000000000000000e+00 },
   { -3.684572776259552e-02, -4.669389358434761e-01,  1.000000000000000e+00 },
   {  3.320317349939640e-01,  3.594396453969645e-01,  1.000000000000000e+00 },
   { -1.425083176897329e+00,  8.746715548182032e-01,  1.000000000000000e+00 },
   {  2.404556350745218e-02, -2.560707658749244e-01,  1.000000000000000e+00 },
   {  1.613603305254148e-01, -7.636902325514384e-02,  1.000000000000000e+00 },
   { -6.885755976062181e-01, -8.868711554820946e-01,  1.000000000000000e+00 },
   { -5.527890028754736e-01, -6.560961370220716e-01,  1.000000000000000e+00 },
   { -1.036833859976363e+00, -5.487806808860950e-01,  1.000000000000000e+00 },
   { -7.454713890334403e-01,  1.625068238851418e-01,  1.000000000000000e+00 },
   {  6.929528094858781e-02,  2.641995670438708e-01,  1.000000000000000e+00 },
   {  4.328378614835743e-01,  3.125792926150026e-03,  1.000000000000000e+00 },
   {  6.933179492636007e-02, -6.271251186926173e-01,  1.000000000000000e+00 },
   { -3.989241334061113e-02, -7.466286053755515e-02,  1.000000000000000e+00 },
   {  3.219034066473465e-01,  5.651984361305760e-01,  1.000000000000000e+00 },
   {  2.358740741246118e-01, -4.239981826214654e-01,  1.000000000000000e+00 },
   { -1.561322841000785e+00, -9.525229360204958e-01,  1.000000000000000e+00 },
   {  5.309111115441547e-01, -7.389768912204197e-01,  1.000000000000000e+00 },
   { -9.626042358775120e-01,  7.015842586144366e-01,  1.000000000000000e+00 },
   {  2.501803614300195e-01, -5.695987370170832e-01,  1.000000000000000e+00 },
   {  3.156523015059934e-01,  2.291369046828492e-01,  1.000000000000000e+00 },
   { -6.771633169089190e-01,  9.381470192566996e-01,  1.000000000000000e+00 },
   {  1.265942100950066e-01, -1.379088718863611e-01,  1.000000000000000e+00 },
   { -1.907035575826078e-01, -1.131425617442610e+00,  1.000000000000000e+00 },
   { -1.259604573337586e-01, -5.346868081236580e-01,  1.000000000000000e+00 },
   { -1.023842397129309e+00,  9.019080910267410e-01,  1.000000000000000e+00 },
   {  1.676413917852519e-01,  1.343372170588039e-01,  1.000000000000000e+00 },
   {  1.395855630966831e-01, -4.251747971799427e-01,  1.000000000000000e+00 },
   {  2.018203734428458e-01,  2.107146114994186e-01,  1.000000000000000e+00 },
   {  1.167936744683275e-01, -1.788141421020777e-01,  1.000000000000000e+00 },
   {  4.205329966030608e-02, -8.304041782175081e-02,  1.000000000000000e+00 },
   { -1.067917273059299e-01,  1.543181124986174e-01,  1.000000000000000e+00 },
   { -9.666505328423018e-02, -3.388414185005981e-01,  1.000000000000000e+00 },
   {  5.109451616345411e-01,  6.570021160273490e-01,  1.000000000000000e+00 },
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   {  4.643871371094951e-02, -3.086930148302753e-01,  1.000000000000000e+00 },
   {  8.846207264851629e-02, -6.926752132656071e-01,  1.000000000000000e+00 },
   { -3.882742174976310e-01,  7.556791564673530e-01,  1.000000000000000e+00 },
   {  3.702180309235043e-01,  5.444757161901060e-01,  1.000000000000000e+00 },
   {  2.101191947560967e-01, -6.548659503353349e-01,  1.000000000000000e+00 },
   { -1.595083672437186e+00,  5.148301343053426e-02,  1.000000000000000e+00 },
   { -8.658695788736225e-01, -1.287414844391196e+00,  1.000000000000000e+00 },
   { -1.433551378208380e+00,  1.055778178961784e+00,  1.000000000000000e+00 },
   {  5.286790368618877e-01, -1.614575708469951e-01,  1.000000000000000e+00 },
   { -5.908954445463068e-01,  6.915662795336699e-01,  1.000000000000000e+00 },
   {  2.045303061679015e-01, -7.788788430098384e-02,  1.000000000000000e+00 },
   { -2.359044539707539e-01, -4.031528587062399e-01,  1.000000000000000e+00 },
   { -1.857718944512668e-01,  7.189922175142087e-01,  1.000000000000000e+00 },
   {  4.091549836956929e-01, -5.149541026211435e-01,  1.000000000000000e+00 },
   {  3.462523584283019e-01, -1.131903334934548e-01,  1.000000000000000e+00 },
   {  2.269427717876228e-01,  1.396907634940328e-01,  1.000000000000000e+00 },
   { -7.675726311441335e-01, -7.751750288304002e-01,  1.000000000000000e+00 },
   { -2.000375954885646e-01,  7.335743253689146e-02,  1.000000000000000e+00 },
   { -8.546287293062140e-01,  7.289858338797418e-01,  1.000000000000000e+00 },
   {  2.740203387694735e-01,  7.162788956681119e-01,  1.000000000000000e+00 },
   { -8.143357393656984e-02, -8.598800853257308e-01,  1.000000000000000e+00 },
   { -7.706516569279143e-01, -2.133182577640299e-01,  1.000000000000000e+00 },
   {  4.436127524025122e-01,  1.407429524474878e-02,  1.000000000000000e+00 },
   {  3.589794394957841e-01, -1.825743645379435e-01,  1.000000000000000e+00 },
   { -8.026890322543475e-01,  9.470385368572669e-02,  1.000000000000000e+00 },
   {  1.193093630933070e-01,  2.241868199807781e-01,  1.000000000000000e+00 },
   {  4.160054730720146e-02, -4.689644647287443e-01,  1.000000000000000e+00 },
   {  2.204214800098319e-01, -2.499699094652758e-01,  1.000000000000000e+00 },
   {  3.395245888240552e-01, -2.126397275288079e-01,  1.000000000000000e+00 },
   { -8.731387359509196e-01, -5.370034440960691e-01,  1.000000000000000e+00 },
   { -4.726562657709568e-01,  3.852928052108132e-01,  1.000000000000000e+00 },
   { -8.097578015795285e-01, -5.069458895228257e-01,  1.000000000000000e+00 },
   { -6.648879483477145e-01, -9.088573642292348e-01,  1.000000000000000e+00 },
   { -7.050849036646529e-01, -1.230924199993942e+00,  1.000000000000000e+00 },
   { -9.089182194646057e-01,  8.239581921116195e-01,  1.000000000000000e+00 },
   {  1.389836992922837e-01,  8.603158843698347e-01,  1.000000000000000e+00 },
   {  2.516315305747206e-01, -9.142241082143052e-01,  1.000000000000000e+00 },
   { -1.415970360361749e+00, -4.435648154730568e-02,  1.000000000000000e+00 },
   { -3.504699269100425e-01, -6.926702961734061e-01,  1.000000000000000e+00 },
   { -6.610226443265103e-01, -7.469053885094153e-01,  1.000000000000000e+00 },
   {  4.965727969504108e-01, -1.381865274259633e-01,  1.000000000000000e+00 },
   {  1.469146699080901e-02,  1.142492956599041e-02,  1.000000000000000e+00 },
   { -1.954260750172060e-02, -4.750934708143202e-01,  1.000000000000000e+00 },
   { -8.176620357832239e-01, -9.153833314747591e-01,  1.000000000000000e+00 },
   { -2.552200471524545e-01, -1.026316707043040e+00,  1.000000000000000e+00 },
   { -5.797575802054801e-01,  1.169695272065757e+00,  1.000000000000000e+00 },
   { -7.528765206437310e-02,  8.519832838172809e-01,  1.000000000000000e+00 },
   { -1.344606945705618e+00,  4.577026878180458e-02,  1.000000000000000e+00 },
   {  3.223248331728039e-01,  5.782419285622670e-01,  1.000000000000000e+00 },
   { -6.118359463974998e-02, -8.311958165401896e-02,  1.000000000000000e+00 },
   { -3.092649942651081e-01,  8.826730495838686e-01,  1.000000000000000e+00 },
   { -9.857198930062736e-01, -5.245683331403908e-01,  1.000000000000000e+00 },
   { -6.357051194179216e-01,  4.067307198773496e-01,  1.000000000000000e+00 },
   {  2.778311652565516e-01, -5.379843092892092e-01,  1.000000000000000e+00 },
   {  6.140086511924955e-02,  1.560975615925078e-01,  1.000000000000000e+00 },
   { -7.329217508080570e-01,  9.895771037058148e-01,  1.000000000000000e+00 },
   { -3.849152099611435e-01, -2.341746743628678e-01,  1.000000000000000e+00 },
   {  4.860793385276574e-01, -3.776679892269372e-01,  1.000000000000000e+00 },
   { -3.366445042914912e-02,  5.167918290571076e-01,  1.000000000000000e+00 },
   {  3.238634133223401e-01,  1.282091334887632e-01,  1.000000000000000e+00 },
   { -8.320309796608661e-01,  8.852510568013271e-01,  1.000000000000000e+00 },
   { -5.573790080333376e-01,  1.206047056192552e+00,  1.000000000000000e+00 },
   { -6.631804388556098e-01, -8.436652987552221e-01,  1.000000000000000e+00 },
   { -3.496676709911729e-01,  3.117983788693305e-01,  1.000000000000000e+00 },
   {  4.015978366037280e-01,  4.039552979566479e-01,  1.000000000000000e+00 },
   { -4.926994281770545e-01, -4.445261727570277e-01,  1.000000000000000e+00 },
   { -1.423979082748615e+00,  1.034154724916607e+00,  1.000000000000000e+00 },
   { -1.031943134950720e+00,  9.428476619636089e-01,  1.000000000000000e+00 },
   { -3.273644891875048e-01, -6.689354763426452e-01,  1.000000000000000e+00 },
   {  3.745180862131435e-01, -3.631248452973536e-01,  1.000000000000000e+00 },
   { -1.111037224930002e+00, -2.425636682825502e-01,  1.000000000000000e+00 },
   {  3.640160016094449e-01,  4.306580073595067e-01,  1.000000000000000e+00 },
   { -1.032033400579190e+00,  9.898909332431968e-01,  1.000000000000000e+00 },
   {  4.169850917791232e-01, -2.079775784311016e-01,  1.000000000000000e+00 },
   { -1.017195141731226e-01,  6.312866737374799e-01,  1.000000000000000e+00 },
   { -3.598350075677556e-01, -8.648074389225678e-01,  1.000000000000000e+00 },
   {  5.299756514514110e-01, -7.303005549810776e-01,  1.000000000000000e+00 },
   {  3.373117232593176e-01,  4.623054237042436e-02,  1.000000000000000e+00 },
   { -7.705577420682644e-01, -1.201976157749771e-01,  1.000000000000000e+00 },
   { -1.245765022355591e+00,  8.113317718565314e-01,  1.000000000000000e+00 },
   { -1.168979483871587e-01,  4.716574571404752e-01,  1.000000000000000e+00 },
   { -6.882758490413123e-01,  1.734574269124270e-01,  1.000000000000000e+00 },
   { -9.646166470472344e-01,  4.792425540538941e-02,  1.000000000000000e+00 },
   {  3.909570513029748e-01, -3.543204952071608e-01,  1.000000000000000e+00 },
   {  3.126713480266352e-01, -6.296579523520038e-01,  1.000000000000000e+00 },
   { -5.004949339094560e-02,  7.375277569604217e-01,  1.000000000000000e+00 },
   { -9.520630469945206e-01,  1.156300893437637e+00,  1.000000000000000e+00 },
   { -3.376824591203220e-01,  2.864474407418974e-01,  1.000000000000000e+00 },
   { -8.827278606326215e-01, -1.318414619919294e+00,  1.000000000000000e+00 },
   {  4.160725589756965e-03, -4.429913567864927e-01,  1.000000000000000e+00 },
   { -7.575006619281254e-01,  8.439096944588615e-01,  1.000000000000000e+00 },
   {  1.311090258506881e-02, -4.577266521345886e-01,  1.000000000000000e+00 },
};

// measurements for camera 2
const double DATA_X2[][3] = {
   { -3.333580123986534e-01, -1.883355040736815e-02,  1.000000000000000e+00 },
   { -1.546930807570332e-01, -5.074041356210599e-01,  1.000000000000000e+00 },
   { -1.906179172015411e-01,  5.536979419240338e-02,  1.000000000000000e+00 },
   {  1.280057048113685e-01, -6.350168756561861e-01,  1.000000000000000e+00 },
   {  5.544750539343073e-01, -7.476337479945542e-01,  1.000000000000000e+00 },
   {  1.272128666535059e+00, -8.206067718820966e-01,  1.000000000000000e+00 },
   { -5.462997662782271e-02,  3.755366642613633e-01,  1.000000000000000e+00 },
   {  6.121611966081130e-01,  8.763960677799268e-03,  1.000000000000000e+00 },
   {  7.587618063882971e-02, -9.520082806573500e-03,  1.000000000000000e+00 },
   {  6.399527811953292e-01, -1.323901115202377e+00,  1.000000000000000e+00 },
   { -1.126960343853526e-01,  8.594211649785416e-01,  1.000000000000000e+00 },
   { -5.173845284451772e-01, -3.188632400225515e-01,  1.000000000000000e+00 },
   {  1.403881918294972e-02, -5.604847231540658e-01,  1.000000000000000e+00 },
   { -2.746055301933745e-01,  4.684251185865434e-01,  1.000000000000000e+00 },
   { -3.062414647232709e-01, -4.650143165101610e-01,  1.000000000000000e+00 },
   {  5.248844577808170e-01, -6.914200457414061e-01,  1.000000000000000e+00 },
   {  9.079544222908522e-01,  7.661904819192108e-01,  1.000000000000000e+00 },
   {  1.858818896277154e-01,  4.532428371003318e-01,  1.000000000000000e+00 },
   { -4.035945402396223e-01, -7.731836236359945e-01,  1.000000000000000e+00 },
   {  7.542733100335172e-02,  4.262452478058502e-01,  1.000000000000000e+00 },
   {  7.060899755851257e-01, -1.931858756022259e-01,  1.000000000000000e+00 },
   {  1.413780105391431e+00, -8.966912040805256e-01,  1.000000000000000e+00 },
   {  3.223146118141572e-01,  1.040694933998372e+00,  1.000000000000000e+00 },
   { -1.687644781376474e-01,  3.028908552056651e-01,  1.000000000000000e+00 },
   {  1.089310369515606e+00,  3.843620322826243e-01,  1.000000000000000e+00 },
   { -4.993984684768734e-01, -6.315499085901077e-01,  1.000000000000000e+00 },
   { -1.583749064225840e-01,  9.575413625366347e-01,  1.000000000000000e+00 },
   { -2.746442447556783e-01,  3.488320311121633e-01,  1.000000000000000e+00 },
   {  5.953386906803656e-01,  1.239780728492699e+00,  1.000000000000000e+00 },
   { -1.422433967710539e-01,  2.078672857422167e-01,  1.000000000000000e+00 },
   {  1.403455376186599e+00, -5.975680818020175e-01,  1.000000000000000e+00 },
   {  9.576394391179591e-01,  9.666909993202717e-01,  1.000000000000000e+00 },
   {  9.398306933673961e-01,  6.638810637781266e-01,  1.000000000000000e+00 },
   { -2.156286054868200e-02, -3.526223605893016e-01,  1.000000000000000e+00 },
   {  4.552714264523233e-01,  3.833764272901482e-01,  1.000000000000000e+00 },
   { -2.808337746003126e-01, -1.775053739118007e-01,  1.000000000000000e+00 },
   {  1.177690749803904e+00, -3.410587229333941e-01,  1.000000000000000e+00 },
   { -2.337438282740124e-01, -5.174184487435586e-01,  1.000000000000000e+00 },
   {  2.956051912477591e-01, -3.707967022160422e-01,  1.000000000000000e+00 },
   {  6.965246443474254e-01, -4.149720942504777e-01,  1.000000000000000e+00 },
   { -1.410133186296379e-02,  1.573759537454149e-01,  1.000000000000000e+00 },
   {  1.633828854379404e+00, -1.612395464284816e+00,  1.000000000000000e+00 },
   {  1.264595238038964e+00, -1.222673169311590e+00,  1.000000000000000e+00 },
   { -4.591006687734664e-01, -2.217852283497375e-01,  1.000000000000000e+00 },
   {  1.059527318487693e+00,  6.608369965923995e-01,  1.000000000000000e+00 },
   {  1.165204655204377e-01,  6.981081218559088e-01,  1.000000000000000e+00 },
   {  1.470524642665440e-01,  4.943018624788682e-01,  1.000000000000000e+00 },
   { -1.639589759169442e-01,  5.341489841599039e-01,  1.000000000000000e+00 },
   { -3.719033535127452e-01, -4.811278998055386e-01,  1.000000000000000e+00 },
   { -2.482726608795559e-01,  1.084670811383590e-01,  1.000000000000000e+00 },
   {  1.050787554852788e+00,  7.535807014378803e-01,  1.000000000000000e+00 },
   { -3.060741578688282e-01, -3.934896946815187e-01,  1.000000000000000e+00 },
   { -1.972898386611664e-02,  4.482663553309147e-01,  1.000000000000000e+00 },
   {  1.118922768498475e+00, -1.269460113363033e+00,  1.000000000000000e+00 },
   { -7.636962002630120e-02,  7.050705106433717e-01,  1.000000000000000e+00 },
   {  3.389323397145253e-01,  8.218008658263436e-01,  1.000000000000000e+00 },
   {  3.460672564960244e-01, -3.737871557311048e-01,  1.000000000000000e+00 },
   { -3.570498290367105e-01,  1.123975599655740e-01,  1.000000000000000e+00 },
   { -2.492625689212459e-01, -1.168700735818227e-01,  1.000000000000000e+00 },
   {  5.949766580891998e-02,  5.558233681903857e-01,  1.000000000000000e+00 },
   { -2.356960385886320e-01, -2.916548998651640e-01,  1.000000000000000e+00 },
   {  1.930610422284394e-01, -5.081753853712979e-01,  1.000000000000000e+00 },
   {  5.563729924931636e-01,  5.875278811019629e-01,  1.000000000000000e+00 },
   { -5.881633890844237e-01,  3.169095108999444e-01,  1.000000000000000e+00 },
   {  3.075080995070228e-01, -3.057785760306290e-01,  1.000000000000000e+00 },
   {  5.924665129355516e-01, -1.130210693329843e-01,  1.000000000000000e+00 },
   { -3.936981518613414e-01, -4.903467811770875e-01,  1.000000000000000e+00 },
   { -2.828784905419418e-01, -4.161326123321479e-01,  1.000000000000000e+00 },
   { -3.409991762516210e-01, -2.757002739513795e-01,  1.000000000000000e+00 },
   { -2.392075793269541e-01,  9.791928884138172e-02,  1.000000000000000e+00 },
   {  1.890206633620649e-01,  3.052440618928047e-01,  1.000000000000000e+00 },
   {  1.163918646985039e+00,  6.967449687648693e-03,  1.000000000000000e+00 },
   {  2.599369049095840e-01, -7.513148770921479e-01,  1.000000000000000e+00 },
   { -1.882348956611172e-02, -7.218879860468398e-02,  1.000000000000000e+00 },
   {  4.707269707218103e-01,  8.828910755141410e-01,  1.000000000000000e+00 },
   {  5.661664693328634e-01, -6.512866607893218e-01,  1.000000000000000e+00 },
   { -5.777699401744503e-01, -3.338458122661960e-01,  1.000000000000000e+00 },
   {  1.079930673062709e+00, -1.730014701540388e+00,  1.000000000000000e+00 },
   { -4.622912784029351e-01,  3.305964153204337e-01,  1.000000000000000e+00 },
   {  5.941709846910537e-01, -8.941490117070010e-01,  1.000000000000000e+00 },
   {  5.268902984428361e-01,  3.654386605724051e-01,  1.000000000000000e+00 },
   { -2.749701798734741e-01,  5.673866153285213e-01,  1.000000000000000e+00 },
   {  1.385074305184986e-01, -1.606811276108433e-01,  1.000000000000000e+00 },
   { -2.286436139327150e-01, -8.846649593711591e-01,  1.000000000000000e+00 },
   { -2.017193789371364e-01, -4.403891636196841e-01,  1.000000000000000e+00 },
   { -3.265878763600623e-01,  4.599591838807165e-01,  1.000000000000000e+00 },
   {  5.588493226503179e-01,  1.967216158048640e-01,  1.000000000000000e+00 },
   {  3.510474782546955e-02, -4.718156377090839e-01,  1.000000000000000e+00 },
   {  5.273919244695435e-01,  3.111280411558257e-01,  1.000000000000000e+00 },
   {  2.323592220774719e-01, -2.174664869076686e-01,  1.000000000000000e+00 },
   {  2.266307113833383e-02, -8.622034823340982e-02,  1.000000000000000e+00 },
   {  1.311407168338260e-01,  1.563615121013187e-01,  1.000000000000000e+00 },
   {  1.228451504732857e-01, -3.436923094771137e-01,  1.000000000000000e+00 },
   {  1.074507492998843e+00,  1.510037029446563e+00,  1.000000000000000e+00 },
   {  1.059610667036458e+00, -5.027557385754055e-01,  1.000000000000000e+00 },
   { -1.363532937664703e-01, -7.903029397015532e-01,  1.000000000000000e+00 },
   {  9.709254154791260e-03, -3.833636254466249e-01,  1.000000000000000e+00 },
   {  7.993712824249754e-03,  6.981222960503813e-01,  1.000000000000000e+00 },
   {  1.071611834957058e+00, -1.476156545047236e+00,  1.000000000000000e+00 },
   {  6.174356283127769e-01, -3.135060107312903e-01,  1.000000000000000e+00 },
   {  7.448568730260652e-01,  9.156180804955620e-01,  1.000000000000000e+00 },
   {  3.536297559225678e-01,  2.748699055528673e-01,  1.000000000000000e+00 },
   { -3.935860118092101e-01, -2.957380941762238e-01,  1.000000000000000e+00 },
   { -2.967694518319626e-01,  3.169155104827820e-01,  1.000000000000000e+00 },
   {  3.747441066925147e-01, -1.425222899303626e-01,  1.000000000000000e+00 },
   {  1.449560255006595e+00,  4.087932348457948e-01,  1.000000000000000e+00 },
   { -3.670944152129123e-01, -4.784972347667673e-01,  1.000000000000000e+00 },
   {  9.034757204305235e-01,  1.926027733635179e-01,  1.000000000000000e+00 },
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   {  9.508801980846365e-01, -1.044365174852339e+00,  1.000000000000000e+00 },
   {  6.298958207186770e-01, -1.929209306846968e-01,  1.000000000000000e+00 },
   {  2.824981459519254e-01,  1.869725459723245e-01,  1.000000000000000e+00 },
   { -4.273632411394397e-01, -4.046054322655603e-01,  1.000000000000000e+00 },
   { -1.464408840461545e-01,  6.020235554986954e-02,  1.000000000000000e+00 },
   { -3.689189275716290e-01,  3.841619404575818e-01,  1.000000000000000e+00 },
   {  2.943354712378458e-01,  9.954920401463753e-01,  1.000000000000000e+00 },
   {  5.147662281720625e-02, -8.456757249533337e-01,  1.000000000000000e+00 },
   { -2.912972589806698e-01, -1.228028665860508e-01,  1.000000000000000e+00 },
   {  1.088365961065560e+00,  3.080891483748968e-02,  1.000000000000000e+00 },
   {  9.910912904074802e-01, -3.620903833879154e-01,  1.000000000000000e+00 },
   { -4.614230687006626e-01,  4.747364663633225e-02,  1.000000000000000e+00 },
   {  2.987710035713224e-01,  2.823040762961073e-01,  1.000000000000000e+00 },
   {  1.631114757772446e-02, -4.850303186800103e-01,  1.000000000000000e+00 },
   {  4.012843017580195e-01, -3.527780087454732e-01,  1.000000000000000e+00 },
   {  1.068725600028014e+00, -4.276805162902652e-01,  1.000000000000000e+00 },
   { -2.868930509716494e-01, -2.978879960904323e-01,  1.000000000000000e+00 },
   { -3.411886167568689e-01,  2.430659390718134e-01,  1.000000000000000e+00 },
   { -4.062824943406881e-01, -2.644151862699903e-01,  1.000000000000000e+00 },
   { -2.930384212114598e-01, -5.456363878007797e-01,  1.000000000000000e+00 },
   { -3.264244714900774e-01, -7.099397318143114e-01,  1.000000000000000e+00 },
   { -4.759768328737525e-01,  3.918835967988540e-01,  1.000000000000000e+00 },
   {  1.380771068811879e-01,  1.009939093115392e+00,  1.000000000000000e+00 },
   {  2.361907140252543e-01, -1.215475830254853e+00,  1.000000000000000e+00 },
   { -5.768215762327796e-01, -1.627749667145726e-02,  1.000000000000000e+00 },
   { -3.144668698833207e-02, -5.656404473547704e-01,  1.000000000000000e+00 },
   { -2.961632426918614e-01, -4.481568079955403e-01,  1.000000000000000e+00 },
   {  1.021605942503262e+00, -3.079927451117073e-01,  1.000000000000000e+00 },
   {  7.180821439478188e-02,  1.200037859634788e-02,  1.000000000000000e+00 },
   {  3.223680737357401e-02, -4.785365823403397e-01,  1.000000000000000e+00 },
   { -2.946422849395220e-01, -5.160501919129130e-01,  1.000000000000000e+00 },
   { -2.117140673659063e-01, -7.851707748315293e-01,  1.000000000000000e+00 },
   { -3.112379154755728e-01,  7.188822962839007e-01,  1.000000000000000e+00 },
   { -5.449327922588295e-03,  8.139236957151500e-01,  1.000000000000000e+00 },
   { -4.353190567570336e-01,  1.929098571636377e-02,  1.000000000000000e+00 },
   {  5.343657624418716e-01,  9.296395981707917e-01,  1.000000000000000e+00 },
   { -4.674599024497657e-02, -7.811685477533471e-02,  1.000000000000000e+00 },
   { -2.125454234655108e-01,  6.570401551982424e-01,  1.000000000000000e+00 },
   { -4.529314798080034e-01, -2.468881916745886e-01,  1.000000000000000e+00 },
   { -2.422624585133585e-01,  2.559143367650063e-01,  1.000000000000000e+00 },
   {  8.154686001481189e-01, -9.424473642662660e-01,  1.000000000000000e+00 },
   {  1.832348877423852e-01,  1.789551594230001e-01,  1.000000000000000e+00 },
   { -2.268169196054168e-01,  6.042846141181865e-01,  1.000000000000000e+00 },
   { -1.737393239000895e-01, -1.723773935066867e-01,  1.000000000000000e+00 },
   {  8.430633169459324e-01, -7.805461020578304e-01,  1.000000000000000e+00 },
   {  1.325590720748958e-01,  5.457364350306452e-01,  1.000000000000000e+00 },
   {  1.044459092035369e+00,  2.527887480072921e-01,  1.000000000000000e+00 },
   { -3.085703153460463e-01,  4.914576502014775e-01,  1.000000000000000e+00 },
   { -3.355967725748685e-01,  7.356369985815548e-01,  1.000000000000000e+00 },
   { -2.660205717258644e-01, -5.163755435943781e-01,  1.000000000000000e+00 },
   { -1.408207907291500e-01,  2.383333504355654e-01,  1.000000000000000e+00 },
   {  1.026950384556061e+00,  8.376945092760971e-01,  1.000000000000000e+00 },
   { -2.912104829135031e-01, -2.878935463325383e-01,  1.000000000000000e+00 },
   { -4.853367255984643e-01,  4.085180759679282e-01,  1.000000000000000e+00 },
   { -3.960017749534762e-01,  4.557501690911326e-01,  1.000000000000000e+00 },
   { -1.904450510391953e-01, -5.007415370279910e-01,  1.000000000000000e+00 },
   {  9.403277450479887e-01, -7.148314241190767e-01,  1.000000000000000e+00 },
   { -3.796490760002884e-01, -1.153828236238686e-01,  1.000000000000000e+00 },
   {  7.580441063843296e-01,  7.838830628487171e-01,  1.000000000000000e+00 },
   { -3.169500991136945e-01,  5.067846184991378e-01,  1.000000000000000e+00 },
   {  1.224595419814583e+00, -4.675934557988080e-01,  1.000000000000000e+00 },
   {  1.405542141084379e-02,  6.011077724487180e-01,  1.000000000000000e+00 },
   { -2.958200354310510e-01, -5.937527979619526e-01,  1.000000000000000e+00 },
   {  1.140156199562726e+00, -1.744961087211568e+00,  1.000000000000000e+00 },
   {  8.498894246152777e-01,  8.558195482202474e-02,  1.000000000000000e+00 },
   { -3.389251962869104e-01, -6.691033520820865e-02,  1.000000000000000e+00 },
   { -4.519814218740545e-01,  3.487660158020670e-01,  1.000000000000000e+00 },
   { -6.030975170514696e-02,  4.264526709385821e-01,  1.000000000000000e+00 },
   { -4.260102726770398e-01,  9.359994032497833e-02,  1.000000000000000e+00 },
   { -3.147453863699984e-01,  2.518786915187042e-02,  1.000000000000000e+00 },
   {  1.156603969347036e+00, -7.631901843232822e-01,  1.000000000000000e+00 },
   {  3.269583052200707e-01, -9.134072309676260e-01,  1.000000000000000e+00 },
   { -2.411414070002786e-02,  7.068349061317173e-01,  1.000000000000000e+00 },
   { -3.920721627096889e-01,  5.772551345405071e-01,  1.000000000000000e+00 },
   { -1.626565675014935e-01,  2.172014002081957e-01,  1.000000000000000e+00 },
   { -4.026022642161525e-01, -6.703299278451860e-01,  1.000000000000000e+00 },
   {  1.419816297334520e-01, -4.804589022882582e-01,  1.000000000000000e+00 },
   { -2.648190673817261e-01,  4.973631213223541e-01,  1.000000000000000e+00 },
   {  1.370430807321653e-01, -4.977102954773253e-01,  1.000000000000000e+00 },
};

// camera 2 -> camera 1 matrix (note: column major order)
const double DATA_P[16] = {
    5.000000000000001e-01,  0.000000000000000e+00,  8.660254037844386e-01,  0.000000000000000e+00,
    0.000000000000000e+00,  1.000000000000000e+00,  0.000000000000000e+00,  0.000000000000000e+00,
   -8.660254037844386e-01,  0.000000000000000e+00,  5.000000000000001e-01,  0.000000000000000e+00,
    8.660254037844387e+00,  0.000000000000000e+00,  4.999999999999999e+00,  1.000000000000000e+00,
};

// constructed E matrix (note: column major order)
const double DATA_TRUE_E[9] = {
    0.000000000000000e+00, -5.000000000000000e+00,  0.000000000000000e+00,
   -4.999999999999999e+00,  0.000000000000000e+00,  8.660254037844387e+00,
    0.000000000000000e+00, -8.660254037844387e+00,  0.000000000000000e+00,
};

// Sample indexes (0-based indexes)
// (to verify: first sample 3D pos is 3.092390, -4.585557, 8.613032)
const unsigned int DATA_SAMPLE_SIZE = 5;
const unsigned int DATA_SAMPLE[] = {
   458, 402, 240, 95, 735
};

// Q matrix (5 x 9; col-major order)
const double DATA_Q[9*5] = {
    7.409e-02,  5.396e-02,  1.183e-02,  3.570e-02,  1.671e-01,
   -1.258e-01,  5.859e-03,  5.983e-02,  1.347e-01, -2.053e-01,
    3.155e-01, -1.453e-01,  1.282e-01, -1.364e-01,  4.881e-01,
   -1.280e-01,  1.130e-02,  4.887e-02,  2.069e-01, -2.300e-01,
    2.172e-01,  1.227e-03,  2.471e-01,  7.804e-01,  2.826e-01,
   -5.451e-01, -3.042e-02,  5.295e-01, -7.903e-01, -6.719e-01,
    2.348e-01, -3.714e-01,  9.230e-02, -2.618e-01,  3.423e-01,
   -3.986e-01, -4.033e-02,  4.667e-01, -9.875e-01, -4.206e-01,
    1.000e+00,  1.000e+00,  1.000e+00,  1.000e+00,  1.000e+00,
};

// singular values:
// 2.65038
// 1.35467
// 0.954718
// 0.466137
// 0.0834115
// EE matrix (9 x 4) (note: row-major order)
const double DATA_EE[9][4] = {
   { -2.221e-01,  1.992e-01, -4.222e-01,  5.995e-01 },
   { -3.764e-02, -8.176e-01, -2.163e-01,  3.641e-01 },
   {  5.833e-01, -2.131e-01,  3.735e-01,  2.536e-01 },
   { -7.223e-02,  3.692e-01,  5.066e-01,  5.881e-01 },
   { -9.656e-02,  1.679e-02,  5.981e-02, -2.983e-01 },
   {  4.786e-01,  2.301e-01, -3.626e-01, -7.892e-03 },
   { -3.219e-01,  1.363e-01, -2.976e-01,  5.952e-02 },
   { -5.109e-01, -1.958e-01,  3.925e-01, -7.036e-02 },
   { -2.775e-02,  8.639e-03, -3.323e-02,  1.511e-02 },
};

// M matrix (10 x 20) (note: column-major order)
const double DATA_M[20][10] = {
   { -2.136e-02, -6.694e-02,  2.248e-02, -6.283e-02, -1.679e-02,  6.022e-02,  7.735e-02,  4.995e-02,  7.559e-02, -4.563e-02 },
   {  4.895e-02, -3.166e-03, -8.475e-02, -8.595e-02, -2.150e-01, -9.194e-02, -7.075e-02, -3.220e-02,  1.350e-01,  3.798e-02 },
   { -1.198e-01,  5.106e-02,  1.367e-01,  5.330e-02,  1.930e-02, -8.857e-02,  2.128e-01, -1.101e-01,  4.431e-02,  1.879e-02 },
   {  7.977e-02, -1.058e-01, -5.361e-03, -2.434e-01, -2.364e-02, -6.401e-02, -4.993e-02, -7.332e-02, -3.205e-02,  1.852e-03 },
   { -4.610e-02, -1.517e-01,  6.155e-02, -8.099e-02,  9.893e-02,  5.147e-02,  1.680e-01, -5.414e-02,  6.955e-02, -1.584e-01 },
   {  2.644e-01, -1.044e-01, -1.278e-01, -1.920e-01,  7.965e-02, -7.901e-02, -2.228e-01,  3.393e-03, -1.862e-01, -8.185e-02 },
   { -1.834e-01, -9.585e-02, -5.135e-02,  7.345e-02, -3.264e-02,  1.489e-01,  8.851e-02,  1.507e-01,  1.332e-01, -4.296e-03 },
   { -3.513e-01,  1.142e-02, -7.619e-02, -1.327e-02, -6.818e-03, -1.142e-02,  1.162e-02, -1.321e-01,  1.538e-01,  1.396e-01 },
   { -2.509e-02, -2.857e-02,  1.321e-01, -5.440e-02,  2.951e-01,  1.258e-02, -5.186e-02, -1.854e-03, -1.502e-01, -1.237e-02 },
   { -1.348e-01,  1.324e-01,  5.922e-03,  1.875e-02,  2.664e-02, -1.136e-01,  7.982e-02, -9.221e-02,  6.088e-02, -5.312e-03 },
   {  2.450e-01,  6.111e-02,  1.491e-01,  7.180e-02,  2.013e-01,  1.940e-02, -5.566e-02,  1.547e-02, -2.236e-01, -1.420e-01 },
   { -1.879e-01, -1.619e-01,  1.432e-02, -1.412e-01, -1.124e-01,  4.215e-01, -5.008e-02,  5.845e-01,  2.886e-01,  7.495e-02 },
   {  3.269e-01,  1.334e-01,  1.954e-01,  4.514e-01, -4.619e-01,  1.375e-02,  3.159e-01, -3.407e-02,  6.099e-02,  4.092e-02 },
   {  5.337e-01, -2.638e-01,  2.215e-01,  1.231e-01,  1.961e-01,  3.466e-01, -4.280e-02,  2.647e-01, -2.251e-01, -4.102e-01 },
   {  4.431e-01,  2.251e-01, -3.644e-01,  5.882e-01, -6.494e-02, -4.402e-02, -2.995e-01,  2.139e-01, -1.848e-01, -1.878e-01 },
   { -5.431e-02,  5.999e-02, -1.559e-01,  1.432e-01, -1.743e-01,  2.092e-02, -2.236e-01, -2.715e-01,  8.769e-02,  2.294e-01 },
   { -1.039e-01, -1.378e-01, -9.540e-02,  1.967e-02, -4.858e-02,  1.096e-01,  1.436e-01,  8.775e-02, -4.918e-02, -7.063e-02 },
   {  2.100e-01,  6.776e-01,  1.020e-01, -4.129e-01, -1.106e-01,  6.280e-02, -7.797e-02,  9.757e-02,  2.502e-02, -5.955e-03 },
   { -1.650e-01,  1.930e-01, -2.530e-02, -1.755e-01, -1.670e-01, -1.226e-01, -1.885e-01,  1.154e-01, -1.020e-02,  1.181e-02 },
   {  1.769e-01,  1.101e-01,  1.195e-02, -5.264e-02,  1.036e-01,  2.296e-02,  1.259e-02,  6.273e-02, -4.341e-03, -1.243e-02 },
};

// B matrix (10 x 10) (note: column-major order)
const double DATA_B[10][10] = {
   { -1.768e+00, -1.513e-01, -1.032e+00,  3.539e-01,  7.771e-01, -9.099e-01, -2.606e-01, -1.023e+00,  4.623e-01,  4.170e-01 },
   {  3.775e+00,  6.713e-01, -1.279e+00,  5.071e-01, -1.618e+00, -9.232e-01,  1.340e+00, -4.504e-01,  1.348e+00,  3.189e-01 },
   { -1.499e-01,  8.751e-02,  1.711e+00, -1.288e+00,  9.982e-02, -5.608e-01, -1.378e+00, -4.791e-01, -1.556e+00, -2.375e+00 },
   { -4.419e+00,  4.929e-01, -2.524e+00,  9.358e-01,  2.693e+00, -2.300e+00,  6.068e-01, -2.409e+00,  7.784e-01, -4.072e-01 },
   { -1.248e+00,  6.795e-01,  1.897e-01, -3.951e+00,  4.128e-01,  2.107e+00, -1.308e-01, -2.943e-01, -8.300e-01, -2.579e-01 },
   {  9.148e-01,  2.781e-01, -7.105e-03, -2.219e+00,  3.161e-01,  3.154e-01, -2.619e+00,  2.202e+00, -7.194e-01, -2.479e+00 },
   { -3.906e+00, -1.531e+00, -7.394e-01,  2.893e+00,  6.090e-01, -8.755e-01,  2.367e+00, -1.105e+00, -1.056e+00,  1.133e+00 },
   {  9.506e+00, -3.239e+00, -4.477e+00,  1.332e+00, -2.933e+00, -2.228e+00, -4.536e+00, -1.868e-01, -1.078e+00,  4.021e+00 },
   { -1.201e+01,  2.947e-01, -5.415e+00,  8.655e+00,  1.387e+00, -5.682e+00,  5.363e+00, -4.581e+00,  1.027e+00,  6.004e+00 },
   {  1.016e+01, -5.346e-01,  2.157e+00, -4.868e+00, -2.201e+00,  3.208e+00, -3.759e+00,  2.323e+00, -3.233e-01, -1.749e+00 },
};

// At matrix (10 x 10) (note: column-major order)
const double DATA_At[10][10] = {
   {  1.768e+00,  1.513e-01,  1.032e+00, -7.771e-01,  9.099e-01,  1.023e+00,  1.000e+00,  0.000e+00,  0.000e+00,  0.000e+00 },
   { -3.775e+00, -6.713e-01,  1.279e+00,  1.618e+00,  9.232e-01,  4.504e-01,  0.000e+00,  1.000e+00,  0.000e+00,  0.000e+00 },
   {  1.499e-01, -8.751e-02, -1.711e+00, -9.982e-02,  5.608e-01,  4.791e-01,  0.000e+00,  0.000e+00,  0.000e+00,  0.000e+00 },
   {  4.419e+00, -4.929e-01,  2.524e+00, -2.693e+00,  2.300e+00,  2.409e+00,  0.000e+00,  0.000e+00,  1.000e+00,  0.000e+00 },
   {  1.248e+00, -6.795e-01, -1.897e-01, -4.128e-01, -2.107e+00,  2.943e-01,  0.000e+00,  0.000e+00,  0.000e+00,  0.000e+00 },
   { -9.148e-01, -2.781e-01,  7.105e-03, -3.161e-01, -3.154e-01, -2.202e+00,  0.000e+00,  0.000e+00,  0.000e+00,  0.000e+00 },
   {  3.906e+00,  1.531e+00,  7.394e-01, -6.090e-01,  8.755e-01,  1.105e+00,  0.000e+00,  0.000e+00,  0.000e+00,  1.000e+00 },
   { -9.506e+00,  3.239e+00,  4.477e+00,  2.933e+00,  2.228e+00,  1.868e-01,  0.000e+00,  0.000e+00,  0.000e+00,  0.000e+00 },
   {  1.201e+01, -2.947e-01,  5.415e+00, -1.387e+00,  5.682e+00,  4.581e+00,  0.000e+00,  0.000e+00,  0.000e+00,  0.000e+00 },
   { -1.016e+01,  5.346e-01, -2.157e+00,  2.201e+00, -3.208e+00, -2.323e+00,  0.000e+00,  0.000e+00,  0.000e+00,  0.000e+00 },
};

